CN116142296B - Fault detection method, device and equipment for rear wheel steering system and storage medium - Google Patents
Fault detection method, device and equipment for rear wheel steering system and storage medium Download PDFInfo
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- CN116142296B CN116142296B CN202310431191.6A CN202310431191A CN116142296B CN 116142296 B CN116142296 B CN 116142296B CN 202310431191 A CN202310431191 A CN 202310431191A CN 116142296 B CN116142296 B CN 116142296B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the invention discloses a fault detection method, device and equipment of a rear wheel steering system and a storage medium. The method comprises the following steps: receiving a steering instruction issued by an arbitration controller through a rear wheel steering controller, and determining whether the steering instruction is matched with a target steering instruction after determining that the rear wheel steering controller is to issue the target steering instruction to a steering motor; under the condition that the steering instruction is determined to be matched with the target steering instruction, transmitting the target steering instruction to a steering motor, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor; and under the condition that the steering parameter is not matched with the target steering instruction, determining that a steering motor of the rear wheel steering system fails. The scheme of the embodiment of the invention can detect the faults of the rear wheel steering system in real time, and effectively avoid accidents.
Description
Technical Field
The embodiment of the invention relates to the technical field of fault detection, in particular to a fault detection method, device and equipment of a rear wheel steering system and a storage medium.
Background
Along with the new and four-up process of automobiles, the rear wheel steering function is gradually adopted by all large host factories, so that the stability of the automobile is improved when the automobile is over-bent at a high speed, and the problem of reducing the turning radius when the automobile is steered at a low speed is solved. The user enjoys the convenience brought by the rear wheel steering function and also bears the risk brought by the functional failure, and because of systematic failure or random hardware failure, the damage such as unexpected steering, wrong steering direction or wrong steering angle and the like of the rear wheel steering system of the whole vehicle occur under specific working conditions, and the driver can not timely and effectively control the vehicle within limited time, so that the personal safety of drivers and passengers and road participants around the whole vehicle is endangered.
How to detect faults of the rear wheel steering system in real time, so that accidents are effectively avoided, and the method is an important problem in the industry.
Disclosure of Invention
The embodiment of the invention provides a fault detection method, device and equipment for a rear wheel steering system and a storage medium, so as to detect the fault of the rear wheel steering system in real time and effectively avoid accidents.
According to an aspect of the embodiment of the present invention, there is provided a fault detection method of a rear wheel steering system including: a rear wheel steering controller, a steering motor and a steering mechanism; the method comprises the following steps:
receiving a steering instruction issued by an arbitration controller through the rear wheel steering controller, and determining whether the steering instruction is matched with a target steering instruction of a steering motor after determining the target steering instruction to be issued to the steering motor by the rear wheel steering controller;
transmitting the target steering instruction to the steering motor under the condition that the steering instruction is matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor;
and under the condition that the steering parameter is not matched with the target steering instruction, determining that a steering motor of the rear wheel steering system fails.
According to another aspect of the embodiment of the present invention, there is provided a fault detection apparatus of a rear wheel steering system including: a rear wheel steering controller, a steering motor and a steering mechanism; the device comprises:
the first matching module is used for receiving the steering instruction issued by the arbitration controller through the rear wheel steering controller and determining whether the steering instruction is matched with the target steering instruction after determining the target steering instruction to be issued to the steering motor by the rear wheel steering controller;
the second matching module is used for sending the target steering instruction to the steering motor under the condition that the steering instruction is determined to be matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor;
and the fault determining module is used for determining that the steering motor of the rear wheel steering system fails under the condition that the steering parameter is not matched with the target steering instruction.
According to another aspect of an embodiment of the present invention, there is provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores a computer program executable by the at least one processor, so that the at least one processor can execute the fault detection method of the rear wheel steering system according to any one of the embodiments of the present invention.
According to another aspect of the embodiments of the present invention, there is provided a computer readable storage medium storing computer instructions for implementing the fault detection method of the rear wheel steering system according to any one of the embodiments of the present invention when executed by a processor.
According to the technical scheme, the rear wheel steering controller receives the steering instruction issued by the arbitration controller, and after determining the target steering instruction to be issued to the steering motor by the rear wheel steering controller, determines whether the steering instruction is matched with the target steering instruction; transmitting the target steering instruction to the steering motor under the condition that the steering instruction is matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor; under the condition that the steering parameters are not matched with the target steering instructions, the steering motor of the rear wheel steering system is determined to have faults, and the rear wheel steering system can be subjected to fault detection in real time, so that accidents are effectively avoided.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention, nor is it intended to be used to limit the scope of the embodiments of the invention. Other features of embodiments of the present invention will become apparent from the description that follows.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a fault detection method of a rear wheel steering system according to a first embodiment of the present invention;
fig. 2 is a flowchart of a fault detection method of a rear wheel steering system according to a second embodiment of the present invention;
fig. 3 is a schematic structural view of a fault detection device of a rear wheel steering system according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of an electronic device implementing a failure detection method of a rear wheel steering system according to an embodiment of the present invention.
Detailed Description
In order to make the embodiments of the present invention better understood by those skilled in the art, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the embodiments of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the embodiments of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a fault detection method for a rear-wheel steering system according to an embodiment of the present invention, where the method may be applicable to a case of performing fault detection on a rear-wheel steering system in real time, and the method may be performed by a fault detection device for the rear-wheel steering system, where the fault detection device for the rear-wheel steering system may be implemented in a form of hardware and/or software, and the fault detection device for the rear-wheel steering system may be configured in an electronic device such as a computer, a server, or a tablet computer.
The rear wheel steering system according to the present embodiment may include: a rear wheel steering controller, a steering motor and a steering mechanism; the rear wheel steering controller can receive the steering instruction sent by the in-vehicle arbitration controller, process the steering instruction and obtain a target steering instruction sent to the steering motor; after receiving the target steering command, the steering motor can issue the target steering command to the steering mechanism so that the steering mechanism can steer the rear wheels.
Specifically, referring to fig. 1, the method specifically includes the following steps:
and 110, receiving a steering instruction issued by an arbitration controller through the rear wheel steering controller, and determining whether the steering instruction is matched with a target steering instruction of a steering motor after determining the target steering instruction to be issued to the steering motor by the rear wheel steering controller.
In an optional implementation manner of this embodiment, after receiving the steering instruction issued by the arbitration controller, the rear wheel steering controller may determine a target steering instruction to be issued to the steering motor according to the received steering instruction; further, it may be determined whether the received steering instruction and the target steering instruction to be issued to the steering motor match.
The rear wheel steering controller, the arbitration controller, and the upper layer controller referred to later in this embodiment are all vehicle-mounted controllers.
Optionally, in this embodiment, determining whether the steering command matches the target steering command may include: determining the similarity of the steering instruction and the target steering instruction; when the similarity meets a set similarity threshold, determining that the steering instruction is matched with the target steering instruction; otherwise, not match.
The satisfaction of the similarity threshold may be that the similarity is greater than 0.9 or 0.95, and the like, which is not limited in this embodiment.
In an optional implementation manner of this embodiment, after receiving a steering instruction issued by the arbitration controller and determining to obtain a target steering instruction to be issued to the steering motor, the steering instruction and the target steering instruction may be further converted into a one-dimensional or multi-dimensional vector, and a similarity between the two vectors is calculated; and when the calculated similarity meets a similarity threshold, determining that the steering instruction is matched with the target steering instruction, otherwise, not matching.
Optionally, in this embodiment, in a case where it is determined that the steering command does not match the target steering command, it is determined that the rear wheel steering controller is faulty, and an alarm signal is sent to an upper layer controller.
And 120, transmitting the target steering instruction to the steering motor under the condition that the steering instruction is matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor.
In an alternative implementation of the present embodiment, in the case where it is determined that the steering command matches the target steering command, the target steering command may be sent to the steering standby, and after determining the steering parameter to be issued to the steering mechanism by the steering motor, it is further determined whether the steering parameter matches the target steering command.
Optionally, in this embodiment, determining whether the steering parameter matches the target steering command may include: determining the similarity between the steering parameter and the target steering instruction; when the similarity meets a set similarity threshold, determining that the steering parameter is matched with the target steering instruction; otherwise, not match.
The satisfying the similarity threshold may be that the similarity is greater than 0.95 or 0.98, which is not limited in this embodiment.
In an optional implementation manner of this embodiment, after the steering motor receives the steering instruction issued by the rear wheel steering controller and determines the steering parameter to be issued to the steering mechanism, the steering motor may further convert the target steering instruction and the steering parameter into a one-dimensional or multi-dimensional vector, and calculate the similarity between the two vectors; and when the calculated similarity meets a similarity threshold, determining that the target steering instruction is matched with the steering parameter, otherwise, not matching.
Optionally, in this embodiment, when it is determined that the steering parameter matches the target steering instruction, the steering parameter may be sent to a steering mechanism by the steering motor, so that the steering mechanism achieves rear-wheel steering according to the steering parameter.
And 130, determining that a steering motor of the rear wheel steering system fails under the condition that the steering parameter is not matched with the target steering instruction.
Optionally, in this embodiment, under a situation that it is determined that the steering parameter to be issued to the steering mechanism by the steering motor is not matched with the received target steering instruction, it may be determined that the steering motor in the rear-wheel steering system fails, and further an alarm signal may be sent to the upper-layer controller, so that related personnel may timely repair the rear-wheel steering system.
According to the technical scheme, the rear wheel steering controller receives a steering instruction issued by the arbitration controller, and after determining a target steering instruction to be issued to the steering motor by the rear wheel steering controller, determines whether the steering instruction is matched with the target steering instruction; transmitting the target steering instruction to the steering motor under the condition that the steering instruction is matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor; under the condition that the steering parameters are not matched with the target steering instructions, the steering motor of the rear wheel steering system is determined to have faults, and the rear wheel steering system can be subjected to fault detection in real time, so that accidents are effectively avoided.
Example two
Fig. 2 is a flowchart of a fault detection method for a rear wheel steering system according to a second embodiment of the present invention, where the technical solutions in the present embodiment are further refined, and may be combined with each of the alternatives in the one or more embodiments. As shown in fig. 2, the fault detection method of the rear wheel steering system may include the steps of:
Optionally, in an optional implementation manner of this embodiment, before the steering command issued by the arbitration controller is received by the rear wheel steering controller, the steering request sent by the upper layer controller may also be received by the arbitration controller, and the received steering request is determined whether the steering request is tampered in a process of being sent by the upper layer controller to the arbitration controller.
Optionally, in this embodiment, the E2E verification may be performed on the steering request, where the failure type that may be verified by the E2E includes packet loss, timeout, insertion, masquerading, and so on. The verification of E2E can be simply understood that the sending end and the input end both define the same verification policy, the sending end generates a verification code and sends the verification code to the bus after the message is generated, then the receiving end calculates a verification code according to the same rule, and when the verification codes are the same, the data transmission can be considered to be accurate. When the verification fails, the controller may send an alarm signal to the upper layer controller and not execute the steering request.
In an optional implementation manner of this embodiment, when the verification is passed, that is, when it is determined that the steering request is not tampered in the process of being sent to the arbitration controller by the upper layer controller, the steering request sent by the upper layer controller may be received by the arbitration controller, and a steering instruction to be sent to the rear wheel steering controller may be determined according to the steering request.
In another optional implementation manner of this embodiment, when the verification fails, that is, when it is determined that the steering request is tampered with in the process of being sent to the arbitration controller by the upper layer controller, an alarm signal may be sent to the upper layer controller by the arbitration controller, and the operation of receiving the steering instruction issued by the arbitration controller by the rear wheel steering controller is stopped.
And 240, determining that a steering motor of the rear wheel steering system fails under the condition that the steering parameter is not matched with the target steering command.
According to the scheme of the embodiment, before the rear wheel steering controller receives the steering instruction issued by the arbitration controller, the arbitration controller can also receive the steering request sent by the upper layer controller and the received steering request, so that whether the steering request is tampered in the process of being sent to the arbitration controller by the upper layer controller is determined, faults can be rapidly determined, and fault alarming can be timely carried out.
The fault detection method of the rear wheel steering system related to the embodiment of the invention can formulate a functional safety control strategy from four aspects of input, control, output and power supply, can realize a safety target SG, reaches a corresponding safety state after failure, and can ensure that corresponding requirements are not lost by considering the four aspects of formulating a corresponding safety strategy. While there are three broad categories of safety objectives for rear-wheel steering systems, the functional safety control strategies are consistent.
Safety control strategy:
an input end: E2E verification is carried out on the steering request sent by the upper-layer controller, so that the steering request instruction is prevented from being tampered in the CAN bus transmission process. The types of failures that E2E can check include message loss, timeout, insert, masquerade, etc. The verification of E2E can be simply understood that the sending end and the input end both define the same verification policy, the sending end generates a verification code and sends the verification code to the bus after the message is generated, then the receiving end calculates a verification code according to the same rule, and when the verification codes are the same, the data transmission can be considered to be accurate. When the verification fails, the controller may send an alarm signal to the upper layer controller and not execute the steering request.
And (3) a controller: a corresponding monitoring mechanism is needed to detect whether the instruction sent to the motor is matched with the instruction sent to the controller by the upper controller, if the two are not matched, the controller can be considered to have serious faults inside, the instruction sent to the motor is cleared, and an alarm signal is sent to the upper controller.
And an output end: and verifying the torque output by the motor and the instruction sent to the motor, and confirming whether the torque and the instruction are matched, wherein when the torque and the instruction are not matched, the motor can be considered to have faults, so that the motor is not executed according to the instruction, and the motor output is cut off at the moment and an alarm signal is sent to an upper-layer controller.
And (3) power supply: and a corresponding monitoring mechanism is needed, when the problem of power supply of the rear wheel steering system is found, the rear wheel steering system enters a safe state, returns to a zero position or is kept at the current position to be fixed, and an alarm signal is sent to an upper layer control.
In this embodiment, the system also includes a corresponding safety mechanism, detects whether the angle of rotation request sent by the upper controller is consistent with the angle of last execution, if the angle of rotation request exceeds a specified error range and lasts for a certain time, the rear wheel steering system should enter a safety state, return to a zero position or remain at the current position and remain stationary, and sends an alarm signal to the upper controller.
In this embodiment, when any link check fails, the security state is entered, zeroed or kept at the current position, and a warning message is sent to the upper controller.
The control strategy related in the embodiment of the invention is universal and suitable for any vehicle type, and the harm to drivers and passengers or road participants caused by functional failure can be avoided or reduced only by developing according to the functional safety control strategy in the development and design stage. And a complete analysis of an entire link was performed.
Example III
Fig. 3 is a schematic structural diagram of a fault detection device of a rear wheel steering system according to a third embodiment of the present invention, the rear wheel steering system including: rear wheel steering controller, steering motor and steering mechanism. As shown in fig. 3, the apparatus includes: a first matching module 310, a second matching module 320, and a fault determination module 330.
A first matching module 310, configured to receive, by the rear-wheel steering controller, a steering instruction issued by an arbitration controller, and determine, after determining that the rear-wheel steering controller is to issue a target steering instruction to a steering motor, whether the steering instruction matches the target steering instruction;
a second matching module 320, configured to send the target steering instruction to the steering motor if it is determined that the steering instruction matches the target steering instruction, and determine whether the steering parameter matches the target steering instruction after determining a steering parameter to be issued to the steering mechanism by the steering motor;
and a fault determination module 330, configured to determine that a steering motor of the rear wheel steering system fails, if it is determined that the steering parameter does not match the target steering command.
According to the scheme of the embodiment, a first matching module receives a steering instruction issued by an arbitration controller through the rear wheel steering controller, and after determining a target steering instruction to be issued to a steering motor by the rear wheel steering controller, determines whether the steering instruction is matched with the target steering instruction; transmitting the target steering instruction to the steering motor through a second matching module under the condition that the steering instruction is determined to be matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor; under the condition that the steering parameters are not matched with the target steering instructions, the fault determining module determines that the steering motor of the rear wheel steering system fails, so that the fault detection can be carried out on the rear wheel steering system in real time, and accidents are effectively avoided.
In an alternative implementation manner of this embodiment, the fault detection device of the rear wheel steering system further includes: the checking module is used for receiving the steering request sent by the upper-layer controller through the arbitration controller and checking the steering request to determine whether the steering request is tampered in the process of being sent to the arbitration controller by the upper-layer controller;
and when the verification is passed, receiving a steering request sent by the upper layer controller through the arbitration controller, and determining a steering instruction to be sent to the rear wheel steering controller according to the steering request.
In an optional implementation manner of this embodiment, the verification module is further specifically configured to send, by the arbitration controller, an alarm signal to the upper layer controller when verification fails, and stop executing an operation of receiving, by the rear wheel steering controller, a steering instruction issued by the arbitration controller.
In an optional implementation manner of this embodiment, the first matching module 310 is specifically configured to determine a similarity between the steering instruction and the target steering instruction;
when the similarity meets a set similarity threshold, determining that the steering instruction is matched with the target steering instruction;
otherwise, not match.
In an optional implementation manner of this embodiment, the first matching module 310 is further specifically configured to determine that the rear wheel steering controller fails and send an alarm signal to an upper layer controller when it is determined that the steering command does not match the target steering command.
In an optional implementation manner of this embodiment, the second matching module 320 is specifically configured to determine a similarity between the steering parameter and the target steering instruction;
when the similarity meets a set similarity threshold, determining that the steering parameter is matched with the target steering instruction;
otherwise, not match.
In an optional implementation manner of this embodiment, the second matching module 320 is further specifically configured to send, when it is determined that the steering parameter matches the target steering command, the steering parameter to a steering mechanism through the steering motor, so that the steering mechanism achieves rear-wheel steering according to the steering parameter.
The fault detection device of the rear wheel steering system provided by the embodiment of the invention can execute the fault detection method of the rear wheel steering system provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 4 shows a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the embodiments of the invention described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as a failure detection method of the rear-wheel steering system.
In some embodiments, the fault detection method of the rear-wheel steering system may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the above-described failure detection method of the rear wheel steering system may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the failure detection method of the rear-wheel steering system in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of embodiments of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the embodiments of the present invention may be performed in parallel, sequentially or in a different order, so long as the desired result of the technical solution of the embodiments of the present invention can be achieved, which is not limited herein.
The above detailed description should not be construed as limiting the scope of the embodiments of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the embodiments of the present invention should be included in the scope of the embodiments of the present invention.
Claims (10)
1. A failure detection method of a rear wheel steering system, the rear wheel steering system comprising: a rear wheel steering controller, a steering motor and a steering mechanism; characterized in that the method comprises:
receiving a steering instruction issued by an arbitration controller through the rear wheel steering controller, and determining whether the steering instruction is matched with a target steering instruction of a steering motor after determining the target steering instruction to be issued to the steering motor by the rear wheel steering controller;
transmitting the target steering instruction to the steering motor under the condition that the steering instruction is matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor;
and under the condition that the steering parameter is not matched with the target steering instruction, determining that a steering motor of the rear wheel steering system fails.
2. The method according to claim 1, further comprising, prior to receiving a steering command issued by an arbitration controller by the rear wheel steering controller:
receiving a steering request sent by an upper layer controller through the arbitration controller, and checking the steering request to determine whether the steering request is tampered in the process of being sent to the arbitration controller by the upper layer controller;
and when the verification is passed, receiving a steering request sent by the upper layer controller through the arbitration controller, and determining a steering instruction to be sent to the rear wheel steering controller according to the steering request.
3. The method of claim 2, further comprising, after verifying the steering request:
and when the verification fails, sending an alarm signal to the upper-layer controller through the arbitration controller, and stopping executing the operation of receiving the steering instruction issued by the arbitration controller through the rear wheel steering controller.
4. The method of claim 1, wherein the determining whether the steering command matches the target steering command comprises:
determining the similarity of the steering instruction and the target steering instruction;
when the similarity meets a set similarity threshold, determining that the steering instruction is matched with the target steering instruction;
otherwise, not match.
5. The method as recited in claim 1, further comprising:
and under the condition that the steering instruction is not matched with the target steering instruction, determining that the rear wheel steering controller fails, and sending an alarm signal to an upper layer controller.
6. The method of claim 1, wherein the determining whether the steering parameter matches the target steering command comprises:
determining the similarity between the steering parameter and the target steering instruction;
when the similarity meets a set similarity threshold, determining that the steering parameter is matched with the target steering instruction;
otherwise, not match.
7. The method as recited in claim 1, further comprising:
and under the condition that the steering parameter is determined to be matched with the target steering instruction, the steering parameter is sent to a steering mechanism through the steering motor, so that the steering mechanism realizes rear wheel steering according to the steering parameter.
8. A failure detection apparatus of a rear wheel steering system, the rear wheel steering system comprising: a rear wheel steering controller, a steering motor and a steering mechanism; characterized in that the device comprises:
the first matching module is used for receiving the steering instruction issued by the arbitration controller through the rear wheel steering controller and determining whether the steering instruction is matched with the target steering instruction after determining the target steering instruction to be issued to the steering motor by the rear wheel steering controller;
the second matching module is used for sending the target steering instruction to the steering motor under the condition that the steering instruction is determined to be matched with the target steering instruction, and determining whether the steering parameter is matched with the target steering instruction after determining the steering parameter to be issued to the steering mechanism by the steering motor;
and the fault determining module is used for determining that the steering motor of the rear wheel steering system fails under the condition that the steering parameter is not matched with the target steering instruction.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of fault detection of the rear wheel steering system of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the method for fault detection of the rear wheel steering system according to any one of claims 1 to 7.
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